Represents the smoothness cost for CHOMP, for a single joint.
More...
#include <chomp_cost.h>
|
| Eigen::MatrixXd | getDiffMatrix (int size, const double *diff_rule) const |
| |
Represents the smoothness cost for CHOMP, for a single joint.
Definition at line 80 of file chomp_cost.h.
◆ ChompCost()
| chomp::ChompCost::ChompCost |
( |
const ChompTrajectory & |
trajectory, |
|
|
int |
joint_number, |
|
|
const std::vector< double > & |
derivative_costs, |
|
|
double |
ridge_factor = 0.0 |
|
) |
| |
◆ ~ChompCost()
| chomp::ChompCost::~ChompCost |
( |
| ) |
|
|
virtualdefault |
◆ getCost()
| double chomp::ChompCost::getCost |
( |
const Eigen::MatrixXd::ColXpr & |
joint_trajectory | ) |
const |
|
inline |
◆ getDerivative()
template<typename Derived >
| void chomp::ChompCost::getDerivative |
( |
const Eigen::MatrixXd::ColXpr & |
joint_trajectory, |
|
|
Eigen::MatrixBase< Derived > & |
derivative |
|
) |
| const |
◆ getDiffMatrix()
| Eigen::MatrixXd chomp::ChompCost::getDiffMatrix |
( |
int |
size, |
|
|
const double * |
diff_rule |
|
) |
| const |
|
private |
◆ getMaxQuadCostInvValue()
| double chomp::ChompCost::getMaxQuadCostInvValue |
( |
| ) |
const |
◆ getQuadraticCost()
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCost |
( |
| ) |
const |
|
inline |
◆ getQuadraticCostInverse()
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCostInverse |
( |
| ) |
const |
|
inline |
◆ scale()
| void chomp::ChompCost::scale |
( |
double |
scale | ) |
|
◆ quad_cost_
| Eigen::MatrixXd chomp::ChompCost::quad_cost_ |
|
private |
◆ quad_cost_full_
| Eigen::MatrixXd chomp::ChompCost::quad_cost_full_ |
|
private |
◆ quad_cost_inv_
| Eigen::MatrixXd chomp::ChompCost::quad_cost_inv_ |
|
private |
The documentation for this class was generated from the following files: